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ROS(indigo)_turtlebot仿真示例包括stage和gazebo

2016-05-15 19:03 1031 查看

ROS(indigo)_turtlebot仿真示例包括stage和gazebo

现上参考网址：

turtlebot：http://wiki.ros.org/Robots/TurtleBot

stage：http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Bring%20up%20TurtleBot%20in%20stage

gazebo：1. http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Gazebo%20Bringup%20Guide

2. http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Explore%20the%20Gazebo%20world

3. http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Make%20a%20map%20and%20navigate%20with%20it

1 stage

~$ roslaunch turtlebot_stage turtlebot_in_stage.launch

使用其他命令可以查看相关信息：



















2 gazebo

~$ roslaunch turtlebot_gazebo turtlebot_world.launch





~$ roslaunch turtlebot_teleop keyboard_teleop.launch

~$ roslaunch turtlebot_rviz_launchers view_robot.launch







~$ roslaunch turtlebot_gazebo gmapping_demo.launch

~$ roslaunch turtlebot_rviz_launchers view_navigation.launch





~$ roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world







~$ rosrun map_server map_saver xxx





利用构建地图导航：

~$ roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world

~$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/exbot/xxx.yaml

~$ roslaunch turtlebot_rviz_launchers view_navigation.launch







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